相关论文: Robotic Learning the Sequence of Packing Irregular…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kinesthetic teaching or teleoperation prohibitively restrict…

A successful robot-assisted feeding system requires bite acquisition of a wide variety of food items. It must adapt to changing user food preferences under uncertain visual and physical environments. Different food items in different…

In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This paper introduces a novel skill-agnostic framework that learns to sequence…

We study the problem of learning online packing skills for irregular 3D shapes, which is arguably the most challenging setting of bin packing problems. The goal is to consecutively move a sequence of 3D objects with arbitrary shapes into a…

Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are faced with unfamiliar tasks, such as…

The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…

As robots become more generalized and deployed in diverse environments, they must interact with complex objects, many with multiple independent joints or degrees of freedom (DoF) requiring precise control. A common strategy is object…

Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…

Autonomous robots in unstructured and dynamically changing retail environments have to master complex perception, knowledgeprocessing, and manipulation tasks. To enable them to act competently, we propose a framework based on three core…

Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Reliable perception and efficient adaptation to novel conditions are priority skills for humanoids that function in dynamic environments. The vast advancements in latest computer vision research, brought by deep learning methods, are…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…